KR100361918B1 - System for measuring size of welding bead - Google Patents

System for measuring size of welding bead Download PDF

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Publication number
KR100361918B1
KR100361918B1 KR1019970017098A KR19970017098A KR100361918B1 KR 100361918 B1 KR100361918 B1 KR 100361918B1 KR 1019970017098 A KR1019970017098 A KR 1019970017098A KR 19970017098 A KR19970017098 A KR 19970017098A KR 100361918 B1 KR100361918 B1 KR 100361918B1
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South Korea
Prior art keywords
size
welding bead
measuring
robot
weld bead
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KR1019970017098A
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Korean (ko)
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KR19980082286A (en
Inventor
이은현
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기아자동차주식회사
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Priority to KR1019970017098A priority Critical patent/KR100361918B1/en
Publication of KR19980082286A publication Critical patent/KR19980082286A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

PURPOSE: A system for measuring the size of a welding bead is provided to eliminate the welding bead competently through a robot by measuring the size of the welding bead accurately with using the laser vision sensor. CONSTITUTION: A size measuring system of a welding bead is composed of a laser vision sensor(5) arranged at the side of a grinder(4) of a welding bead removing robot(3) to detect three-way position and the size of the welding bead; a measuring unit(6) measuring the size of the welding bead according to information from the laser vision sensor and transmitting information to a control panel(8) of the robot; and a monitor(7) displaying the size of the welding bead on the screen corresponding to the position of the welding bead measured by the measuring unit. The robot is controlled through the control panel according to information from the measuring unit, and the welding bead is removed completely by the grinder.

Description

용접 비드 크기 측정 시스템Weld bead size measuring system

본 발명은 용접 비드의 크기 측정 시스템에 관한 것으로서, 보다 구체적으로는 용접후 용접물에 잔존되는 용접 비드를 연삭으로 제거하기 위해 용접 비드의 크기를 측정하는 시스템에 관한 것이다.The present invention relates to a system for measuring the size of a weld bead, and more particularly to a system for measuring the size of a weld bead in order to remove the weld bead remaining in the weld after welding.

예를 들어서, 자동차의 골격을 이루는 두 개의 차체를 접합시키기 위해서, 각 차체의 플랜지부를 맞대고 용접을 실시하는데, 이러한 용접 작업후에 플랜지부에는 잔류물인 용접 비드가 형성된다.For example, in order to join two bodies forming the skeleton of an automobile, welding is performed against each flange of the vehicle body, and after this welding operation, a weld bead, which is a residue, is formed on the flange portion.

이를 그대로 방치해두면, 차체의 외관미가 저해되므로, 반드시 연삭 가공을하여 용접 비드를 제거해야 된다. 따라서, 연삭 가공을 하기 전에 용접 비드의 크기가 어느 정도인지를 먼저 측정해야 되고, 이를 위해 종래에는 도 1에 도시된 바대로, 3개의 접촉식 변위센서(1)를 이용해서 용접 비드(2)의 크기를 측정하였다.If it is left as it is, the appearance of the vehicle body is impaired, so the welding bead must be removed by grinding. Therefore, before the grinding process, it is necessary to first measure the size of the welding bead, and for this purpose, as shown in FIG. 1, the welding bead 2 using the three contact displacement sensors 1 is conventionally used. The size of was measured.

그러나, 종래의 방식인 3개의 접촉식 변위센서(1)을 이용하는 방식은, 자동계측이 아닌 수동 계측 방식이기 때문에, 용접 비드(2)의 크기를 정확하게 측정할 수가 없다는 문제점이 있었다 이렇게 용접 비드(2)의 크기를 정확하게 측정하지 못하게 되면, 연삭 가공시 용접 비드(2)가 완전히 제거되지 못한다거나, 또는 과다한 가공에 의해 차체가 손상되는 문제점이 유발되었다.However, the conventional method of using three contact displacement sensors 1 has a problem in that the size of the weld bead 2 cannot be accurately measured because it is a manual measurement method instead of automatic measurement. If the size of 2) is not accurately measured, the weld bead 2 may not be completely removed during the grinding process, or the vehicle body may be damaged by excessive machining.

따라서, 본 발명은 종래의 용접 비드 측정 방식으로 인해 야기되는 문제점을 해소하기 위해 안출된 것으로서, 레이저 비젼 센서를 이용해서 용접 비드의 크기를 정확하게 측정할 수 있는 용접 비드 크기 측정 시스템을 제공하는데 목적이 있다.Accordingly, the present invention has been made to solve the problems caused by the conventional welding bead measuring method, and an object of the present invention is to provide a welding bead size measuring system that can accurately measure the size of the welding bead using a laser vision sensor. have.

도 1은 용접 비드의 크기를 측정하는 종래의 방식을 나타낸 도면1 shows a conventional way of measuring the size of a weld bead

도 2는 본 발명에 따른 용접 비드 크기 측정 시스템을 나타낸 도면2 shows a weld bead size measurement system in accordance with the present invention.

- 도면의 주요 부분에 대한 부호의 설명 --Explanation of symbols for the main parts of the drawing-

3 - 로보트 4 - 그라인더3-Robot 4-Grinder

5 - 레이저 비젼 센서 6 - 계측 유니트5-Laser Vision Sensor 6-Measurement Unit

7 - 모니터 8 - 제어반7-Monitor 8-Control Panel

상기와 같은 목적을 달성하기 위해 본 발명은, 용접 비드 제거용 로보트의 그라인더 측부에 배치되어, 용접 비드의 3 방향 위치값과 크기를 감지하는 레이저 비전(laser vision) 센서; 상기 레이저 비젼 센서에서 감지된 정보로 용접 비드의 크기를 계측하고. 상기 로보트의 제어반에 접속되어 그 정보를 전송하는 계측 유니트; 및 상기 계측 유니트에서 측정된 용접 비드의 위치별 크기를 화면상에 나타내는 모니터를 포함하는 것을 특징으로 한다.In order to achieve the above object, the present invention, the laser bead disposed on the grinder side of the welding bead removal robot, for detecting the three-way position value and size of the weld bead (laser vision); The size of the weld bead is measured using the information detected by the laser vision sensor. A measurement unit connected to the control panel of the robot and transmitting the information; And a monitor for displaying the size of each position of the weld bead measured by the measuring unit on the screen.

상기된 본 발명의 구성에 의하면, 레이저 비젼 센서에 의해 용접 비드의 크기가 정확하게 감지되고, 이 감지된 정보가 계측 유니트에서 정확하게 계산되어 모니터에 표시됨과 아울러 용접 비드 제거용 로보트의 제어반으로도 전송되어서, 로보트가 그라인더로 용접 비드를 완전하게 제거하게 된다.According to the configuration of the present invention described above, the size of the welding bead is accurately detected by the laser vision sensor, the detected information is accurately calculated and displayed on the monitor by the measuring unit, and also transmitted to the control panel of the robot for welding bead removal. The robot will then completely remove the weld bead from the grinder.

[실시예]EXAMPLE

이하, 본 발명의 바람직한 실시예를 첨부도면에 의거하여 상세히 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 따른 용접 비드 크기 측정 시스템을 나타낸 도면이다.2 shows a weld bead size measurement system in accordance with the present invention.

참고로, 본 실시예의 구성을 설명함에 있어, 명세서의 서두에서 설명된 종래의 기술과 동일한 부분에 대해서는 설명의 중복을 피하기 위하여 반복설명은 생략하고 개선된 부분만을 주로하여 설명하며, 또한 동일부번을 사용한다.For reference, in the description of the configuration of the present embodiment, the same parts as in the prior art described at the beginning of the specification are omitted and repeated descriptions are mainly described in order to avoid duplication of description. use.

도시된 바와 같이, 용접 비드 제거용 로보트(3)에는 용접 비드를 연삭하는 그 라인더(4)가 구비되고, 이 그라인더(4)의 측부에 용접 비드의 크기를 감지하는 레이저 비젼 센서(5)가 부착된다. 이 레이저 비젼 센서(5)는 용접 비드의 3방향 위치, 즉 X, Y, 및 Z 방향에서의 위치와 크기를 감지하게 된다.As shown, the weld bead removal robot 3 is provided with a grinder 4 for grinding the weld bead, and a laser vision sensor 5 for sensing the size of the weld bead on the side of the grinder 4. Is attached. The laser vision sensor 5 senses the position and size of the weld bead in three directions, that is, in the X, Y, and Z directions.

레이저 비젼 센서(5)에는 계측 유니트(6)가 연결되어, 레이저 비젼 센서(5)로부터 전송된 정보에 따라 용접 비드의 크기를 정확하게 계산하게 된다. 또한, 계측 유니트(6)에는 모니터(7)가 연결되어, 계측 유니트(6)에서 계측된 용접 비드의 3방향에 따른 크기를 화면상에 표시하게 된다.The measurement unit 6 is connected to the laser vision sensor 5 to accurately calculate the size of the weld bead according to the information transmitted from the laser vision sensor 5. In addition, the monitor 7 is connected to the measurement unit 6 to display the size along the three directions of the weld bead measured by the measurement unit 6 on the screen.

한편, 계측 유니트(6)에는 상기 로보트(3)의 동작을 제어하는 제어반(8)이 연결되어, 계측 유니트(6)로부터 전송된 정보에 따라 제어반(8)이 로보트(3)의 동작을 제어하여, 그라인더(4)로 용접 비드를 완전하게 제거시키게 된다.On the other hand, a control panel 8 for controlling the operation of the robot 3 is connected to the measurement unit 6, and the control panel 8 controls the operation of the robot 3 according to the information transmitted from the measurement unit 6. Thus, the grinder 4 completely removes the weld bead.

상기된 바와 같이 본 발명에 의하면, 용접 비드의 크기를 레이저 비젼 센서(5)로 정확하게 측정할 수가 있게 되어, 로보트(3)가 용접 비드를 잔존되지 않게 완전하게 제거하는 것이 가능해진다.As described above, according to the present invention, the size of the weld bead can be accurately measured by the laser vision sensor 5, so that the robot 3 can completely remove the weld bead without remaining.

한편, 본 발명은 상술한 특정의 바람직한 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변경 실시가 가능할 것이다.On the other hand, the present invention is not limited to the above-described specific preferred embodiments, and various changes can be made by those skilled in the art without departing from the gist of the invention claimed in the claims. will be.

Claims (1)

용접 비드 제거용 로보트의 그라인더 측부에 배치되어, 용접 비드의 3 방향 위치값과 크기를 감지하는 레이저 비젼 센서; 상기 레이저 비젼 센서에서 감지된 정보로 용접 비드의 크기를 계측하고, 상기 로보트의 제어반에 접속되어 그 정보를 전송하는 계측 유니트; 및 상기 계측 유니트에서 측정된 용접 비드의 위치별 크기를 화면상에 나타내는 모니터를 포함하는 것을 특징으로 하는 용접 비드 크기 측정 시스템.A laser vision sensor disposed on the grinder side of the robot for removing the weld bead, the laser vision sensor sensing a position value and a size in three directions of the weld bead; A measurement unit for measuring the size of the welding bead using the information detected by the laser vision sensor, and connected to the control panel of the robot and transmitting the information; And a monitor for displaying the size of each position of the weld bead measured by the measuring unit on a screen.
KR1019970017098A 1997-05-02 1997-05-02 System for measuring size of welding bead KR100361918B1 (en)

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KR100361918B1 true KR100361918B1 (en) 2003-10-08

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100723210B1 (en) * 2005-12-22 2007-05-29 주식회사 포스코 Device of measurement for the state of welding zone
KR100918625B1 (en) * 2009-01-14 2009-09-25 주식회사 로봇밸리 Laser and camera module for welding bead measuring instrument

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62246465A (en) * 1986-04-18 1987-10-27 Toyota Motor Corp Welding bead section polishing method and device
JPH08126945A (en) * 1994-10-27 1996-05-21 Shin Meiwa Ind Co Ltd Automatic grinding robot
KR100247140B1 (en) * 1997-04-29 2000-04-01 박호군 Method for removing welding bead using grinding robot system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62246465A (en) * 1986-04-18 1987-10-27 Toyota Motor Corp Welding bead section polishing method and device
JPH08126945A (en) * 1994-10-27 1996-05-21 Shin Meiwa Ind Co Ltd Automatic grinding robot
KR100247140B1 (en) * 1997-04-29 2000-04-01 박호군 Method for removing welding bead using grinding robot system

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